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ArduPlane: create and use AP_OPTICALFLOW_ENABLED

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Peter Barker 2021-12-24 19:17:51 +11:00 committed by Andrew Tridgell
parent f361d9b0d0
commit e55eea961f
6 changed files with 5 additions and 14 deletions
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2
ArduPlane/ArduPlane.cpp
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@ -84,7 +84,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(read_rangefinder, 50, 100, 78), SCHED_TASK(read_rangefinder, 50, 100, 78),
SCHED_TASK_CLASS(AP_ICEngine, &plane.g2.ice_control, update, 10, 100, 81), SCHED_TASK_CLASS(AP_ICEngine, &plane.g2.ice_control, update, 10, 100, 81),
SCHED_TASK_CLASS(Compass, &plane.compass, cal_update, 50, 50, 84), SCHED_TASK_CLASS(Compass, &plane.compass, cal_update, 50, 50, 84),
#if OPTFLOW == ENABLED #if AP_OPTICALFLOW_ENABLED
SCHED_TASK_CLASS(OpticalFlow, &plane.optflow, update, 50, 50, 87), SCHED_TASK_CLASS(OpticalFlow, &plane.optflow, update, 50, 50, 87),
#endif #endif
SCHED_TASK(one_second_loop, 1, 400, 90), SCHED_TASK(one_second_loop, 1, 400, 90),

2
ArduPlane/GCS_Plane.cpp
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@ -110,7 +110,7 @@ void GCS_Plane::update_vehicle_sensor_status_flags(void)
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; control_sensors_health |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION;
} }
#if OPTFLOW == ENABLED #if AP_OPTICALFLOW_ENABLED
const OpticalFlow *optflow = AP::opticalflow(); const OpticalFlow *optflow = AP::opticalflow();
if (optflow && optflow->enabled()) { if (optflow && optflow->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW; control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;

2
ArduPlane/Parameters.cpp
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@ -938,7 +938,7 @@ const AP_Param::Info Plane::var_info[] = {
GOBJECT(afs, "AFS_", AP_AdvancedFailsafe), GOBJECT(afs, "AFS_", AP_AdvancedFailsafe),
#endif #endif
#if OPTFLOW == ENABLED #if AP_OPTICALFLOW_ENABLED
// @Group: FLOW // @Group: FLOW
// @Path: ../libraries/AP_OpticalFlow/AP_OpticalFlow.cpp // @Path: ../libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
GOBJECT(optflow, "FLOW", OpticalFlow), GOBJECT(optflow, "FLOW", OpticalFlow),

2
ArduPlane/Plane.h
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@ -241,7 +241,7 @@ private:
AP_Camera camera{MASK_LOG_CAMERA}; AP_Camera camera{MASK_LOG_CAMERA};
#endif #endif
#if OPTFLOW == ENABLED #if AP_OPTICALFLOW_ENABLED
// Optical flow sensor // Optical flow sensor
OpticalFlow optflow; OpticalFlow optflow;
#endif #endif

9
ArduPlane/config.h
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@ -33,15 +33,6 @@
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// Optical flow sensor support
//
#ifndef OPTFLOW
# define OPTFLOW ENABLED
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// RADIO CONFIGURATION // RADIO CONFIGURATION

2
ArduPlane/system.cpp
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@ -136,7 +136,7 @@ void Plane::init_ardupilot()
reset_control_switch(); reset_control_switch();
// initialise sensor // initialise sensor
#if OPTFLOW == ENABLED #if AP_OPTICALFLOW_ENABLED
if (optflow.enabled()) { if (optflow.enabled()) {
optflow.init(-1); optflow.init(-1);
} }